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<head>
  <title>cannon.js - collisions demo</title>
  <meta charset="utf-8">
  <link rel="stylesheet" href="css/style.css" type="text/css" />
  <meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
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<body>
  <script src="../../feng3d/out/feng3d.js"></script>
  <script src="../out/cannon.js"></script>
  <script src="../build/cannon.demo.js"></script>
  <script src="../libs/dat.gui.js"></script>
  <script src="../libs/Three.js"></script>
  <script src="../libs/TrackballControls.js"></script>
  <script src="../libs/Detector.js"></script>
  <script src="../libs/Stats.js"></script>
  <script src="../libs/smoothie.js"></script>
  <script>

    /**
     * For debugging different kinds of pair collisions
     */
    var demo = new CANNON.Demo();

    demo.addScene("Sphere / sphere", function ()
    {
      var world = setupWorld(demo);

      // Sphere 1
      var sphereShape = new CANNON.Sphere(1);
      var b1 = new CANNON.Body({ mass: 5 });
      b1.addShape(sphereShape);
      b1.position.set(5, 0, 0);
      b1.velocity.set(-5, 0, 0);
      b1.linearDamping = 0;
      world.addBody(b1);
      demo.addVisual(b1);

      // Sphere 2
      var b2 = new CANNON.Body({ mass: 5 });
      b2.addShape(sphereShape);
      b2.linearDamping = 0;
      b2.position.set(-5, 0, 0);
      b2.velocity.set(5, 0, 0);
      world.addBody(b2);
      demo.addVisual(b2);
    });

    // Sphere / box side
    demo.addScene("Sphere / box side", function ()
    {
      var world = setupWorld(demo);

      var boxShape = new CANNON.Box(new CANNON.Vector3(1, 1, 1));
      var sphereShape = new CANNON.Sphere(1);

      // Box
      var b1 = new CANNON.Body({ mass: 5 });
      b1.addShape(boxShape);
      b1.position.set(5, 0, 0);
      b1.velocity.set(-5, 0, 0);
      b1.linearDamping = 0;
      world.addBody(b1);
      demo.addVisual(b1);

      // Sphere
      var b2 = new CANNON.Body({ mass: 5 });
      b2.addShape(sphereShape);
      b2.position.set(-5, 0, 0);
      b2.velocity.set(5, 0, 0);
      b2.linearDamping = 0;
      world.addBody(b2);
      demo.addVisual(b2);
    });

    demo.addScene("Sphere / box edge", function ()
    {
      var world = setupWorld(demo);

      var boxShape = new CANNON.Box(new CANNON.Vector3(1, 1, 1));
      var sphereShape = new CANNON.Sphere(1);

      // Box
      var b1 = new CANNON.Body({ mass: 5 });
      b1.addShape(boxShape);
      b1.position.set(5, 0, 0);
      b1.velocity.set(-5, 0, 0);
      b1.linearDamping = 0;
      var q = new CANNON.Quaternion();
      q.fromAxisAngle(new CANNON.Vector3(0, 0, 1), Math.PI * 0.25);
      b1.quaternion.set(q.x, q.y, q.z, q.w);
      world.addBody(b1);
      demo.addVisual(b1);

      // Sphere
      var b2 = new CANNON.Body({ mass: 5 });
      b2.addShape(sphereShape);
      b2.position.set(-5, 0, 0);
      b2.velocity.set(5, 0, 0);
      b2.linearDamping = 0;
      world.addBody(b2);
      demo.addVisual(b2);
    });

    demo.addScene("Sphere / box corner", function ()
    {
      var world = setupWorld(demo);

      var boxShape = new CANNON.Box(new CANNON.Vector3(1, 1, 1));
      var sphereShape = new CANNON.Sphere(1);

      // Box
      var b1 = new CANNON.Body({ mass: 5 });
      b1.addShape(boxShape);
      b1.position.set(5, 0, 0);
      b1.velocity.set(-5, 0, 0);
      b1.linearDamping = 0;
      var q1 = new CANNON.Quaternion();
      q1.fromAxisAngle(new CANNON.Vector3(0, 0, 1), Math.PI * 0.25);
      var q2 = new CANNON.Quaternion();
      q2.fromAxisAngle(new CANNON.Vector3(0, 1, 0), Math.PI * 0.25);
      var q = q1.multTo(q2);
      b1.quaternion.set(q.x, q.y, q.z, q.w);
      world.addBody(b1);
      demo.addVisual(b1);

      // Sphere
      var b2 = new CANNON.Body({ mass: 5 });
      b2.addShape(sphereShape);
      b2.position.set(-5, 0, 0);
      b2.velocity.set(5, 0, 0);
      b2.linearDamping = 0;
      world.addBody(b2);
      demo.addVisual(b2);
    });

    demo.start();

    function setupWorld(demo)
    {
      // Create world
      var world = demo.getWorld();
      world.gravity.set(0, 0, 0); // no gravity
      world.broadphase = new CANNON.NaiveBroadphase();
      world.solver.iterations = 5;
      world.defaultContactMaterial.contactEquationStiffness = 1e6;
      world.defaultContactMaterial.contactEquationRelaxation = 10;
      return world;
    }

  </script>
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